Drone / MAV
EuRoC MAV
Classic indoor visual-inertial sequences with motion-capture ground truth.
- Modalities
- stereo, imu
- Sequences
- V1_01_easy now; additional sequences TBD
- Ground truth
- Motion capture / Leica depending sequence
Dataset documentation
Five benchmark domains
Dataset pages describe scenario, sensor modalities, ground-truth source, and VIO stressors. Sequence lists stay TBD until the benchmark repository publishes the exact case set.
Dataset cards
What each dataset tests
The site documents why each dataset belongs in the benchmark before presenting numbers.
High-dynamic FPV
UZH-FPV
Aggressive flight, fast rotations, blur, and rapid viewpoint changes.
- Modalities
- camera, imu
- Sequences
- TBD
- Ground truth
- Dataset-provided reference
Large-scale AR
LaMAria
Longer trajectories, calibration sensitivity, and changing scene structure.
- Modalities
- camera, imu
- Sequences
- TBD
- Ground truth
- Dataset-provided reference
Legged robot / long trajectory
GrandTour
Long-horizon robot motion, scene transitions, and platform vibration.
- Modalities
- camera, imu
- Sequences
- TBD
- Ground truth
- Dataset-provided reference
Underwater
Aqualoc
Low texture, turbidity, illumination variation, and underwater visual degradation.
- Modalities
- camera, imu
- Sequences
- TBD
- Ground truth
- Dataset-provided reference